CN114179054A

CN114179054A - Radiation-resistant obstacle-crossing rescue robot

Info

Publication number: CN114179054A
Application number: CN202111675129.9A
Authority: CN
Inventors: 李清都; 赵佳辉; 唐俊; 梁志远; 苏康佳; 姜喜胜; 王志
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-03-15

Abstract

The application discloses a radiation-resistant obstacle-crossing rescue robot, which comprises a robot body and is characterized in that the front part of the robot body is provided with a storage box, the rear part of the robot body is provided with a transmission bin, the left side and the right side in the transmission bin are provided with the same independent driving structure, and the left side and the right side outside the robot body are provided with independent driving wheels, swing arms and driven wheels; the driving structure comprises a swing arm driving motor and a driving wheel motor; the driving wheel motor is connected with the driving wheel positioned on the same side in a driving mode, the swing arm driving motor is connected with the swing arm positioned on the same side in a driving mode and controls the angle of the swing arm, the swing arm positioned on the same side is connected with the driven wheel positioned on the same side, and the driven wheel is connected with the driving wheel through the crawler belt. This application can realize a plurality of motion modes, when comparatively flat ground walking, can adopt the mode of upright walking, when surmounting the obstacle, can adopt the mode of track walking, can avoid single mode adaptability poor like this, the problem of inefficiency.

Description

Radiation-resistant obstacle-crossing rescue robot

Technical Field

The application relates to a radiation-resistant obstacle-crossing rescue robot, and belongs to the technical field of obstacle-crossing rescue robots.

Background

The research work of the special operation robot is mainly distributed in the fields of nuclear environment, ocean engineering, emergency and disaster relief, space exploration, military application and the like. The nuclear accident can cause the casualties and the nuclear contamination of people, and needs professional rescue force to rescue and treat. The nuclear emergency medical rescue field in China is still at a low informatization level, and the emergency rescue team consisting of a large number of people and common equipment are mainly relied on, so that the requirements of future intellectualization and unmanned development are greatly different. With the rapid development of nuclear-involved industry, the high public concern on nuclear safety accidents and the increasing increase of the safety requirements of nuclear facilities, the nuclear radiation safety condition monitoring and the nuclear emergency of necessary conditions in nuclear facilities (nuclear-involved facilities such as nuclear material factories and nuclear power stations) are very necessary, and the radiation-resistant nuclear emergency robot technology is widely concerned by researchers at home and abroad as an important technology capable of replacing workers to enter a special radiation environment for emergency task processing.

When nuclear accidents occur, the difficulty of handling dangerous cases on site is large: not only the critical wounded personnel need to be rescued, but also the nuclear radiation prevention and treatment need to be given into consideration; not only is common diseases diagnosed and treated quickly, but also nuclear pollution is removed as soon as possible, and the safety of rescuers is guaranteed; if the rescue workers are solely used for close-range dangerous case handling and rescue, a great amount of casualties can be caused; in addition, the severely wounded person is inconvenient to move, the existing rescue force mainly depends on the person to lift the stretcher for rescue, and the risk that the rescuers are irradiated by large dose is increased. Therefore, the demand for the nuclear radiation rescue dangerous case handling robot in the service support of the military is increasing. And nuclear facility environment is different from ordinary environment, and the inside structure is complicated, and equipment has the radioactivity moreover, and some high radioactivity environment, staff can not directly get into the scene, and in some low radioactivity region, the staff also can only the scene work of short time. Simple manipulators are unable to perform complex tasks. The nuclear robot can complete daily routing inspection of nuclear facilities, and can also perform complex work such as cutting and carrying of spent fuel, equipment maintenance and the like. In some nuclear facility retired places, nuclear robots are adopted to collect and dispose radioactive nuclear waste, post-treat spent fuel and the like. Greatly reducing the irradiation dose of the workers and ensuring the safety of the workers of the nuclear facilities. When a nuclear accident occurs, the robot for the nuclear can also carry out emergency rescue, and the rescue efficiency is greatly improved, so that the robot for the nuclear facility can not be used for constructing nuclear facilities, and the selection of the robot for the nuclear facility to replace workers is an inevitable choice.

At present, nuclear emergency robots adopted at home and abroad are common in types such as a paper 'current research situation and key technical analysis of radiation-resistant nuclear emergency robots' (J) nuclear science and engineering, 2019,39(4):17. the nuclear emergency robots are shown in the specification, or a track-driven walking mode or a 6-wheel-driven walking mode is adopted, and the nuclear emergency robots are single in motion mode and cannot cope with different scenes.

The existing nuclear emergency robot has the following defects:

1. most of the existing radiation-resistant emergency robots are large in size and high in self weight, increase friction force when a load is large, have poor dynamic capacity and low speed, have high requirements on power, and have high requirements on power supplies for ensuring cruising ability.

2. When the existing robot runs on flat ground, the whole crawler belt is in contact with the ground, the contact area and friction force of the robot are increased, and the robot is difficult to pass and turn when meeting narrow places.

3. The existing robot mostly needs an additional climbing mechanism when crossing obstacles, otherwise, the existing robot cannot lift itself and climb over obstacles exceeding the height of a track wheel or a wheel, and the requirement on the torque of a motor is increased.

4. Most of the existing robots need to arrange active mechanisms at two ends of the robot, so that the structure is not compact enough, the irradiation protection capability is improved, and the stability of the robot under irradiation conditions is reduced.

5. The existing robot mostly selects the height of an upper actuating mechanism for smoothly passing through the existing robot in the environment with accumulated water, and the capacity of passing through a narrow pipeline or a small-diameter hole is greatly reduced.

Disclosure of Invention

The purpose of the application is to provide a radiation-resistant dangerous case handling robot capable of crossing obstacles, which can replace people to carry out emergency rescue and complete tasks such as detection and sampling so as to solve the practical problem that related personnel are damaged by nuclear radiation when executing related rescue tasks.

In order to solve the technical problem, the technical scheme of the application provides a radiation-resistant obstacle crossing rescue robot which comprises a robot body and is characterized in that a storage box is arranged at the front part of the robot body, a transmission bin is arranged at the rear part of the robot body, the same independent driving structures are arranged on the left side and the right side in the transmission bin, and independent driving wheels, swing arms and driven wheels are arranged on the left side and the right side outside the robot body; the driving structure comprises a swing arm driving motor and a driving wheel motor; the driving wheel motor is connected with the driving wheel positioned on the same side in a driving mode, the swing arm driving motor is connected with the swing arm positioned on the same side in a driving mode and controls the angle of the swing arm, the swing arm positioned on the same side is connected with the driven wheel positioned on the same side, and the driven wheel is connected with the driving wheel through the crawler belt.

Preferably, the storage box is located in the front of the robot body and used for placing the battery, the main control device and the lead protection box.

Preferably, the driving wheel motor is connected with a planetary reducer, the planetary reducer is in driving connection with a driving wheel shaft through a synchronous belt, the driving wheel shaft penetrates through the robot body to be connected with the driving wheel positioned on the same side of the outside, and the driving wheel comprises a driving wheel hub; the driving wheel motor drives and controls the driving wheel to rotate so as to drive the robot to advance, and the driving wheels on the left side and the right side rotate in a differential mode to drive the robot to turn.

Preferably, the other end of the robot body, which is far away from the driving wheels, is provided with universal wheels facing the ground, and the universal wheels are supporting wheels of the robot body.

Preferably, the swing arm driving motor is connected with a harmonic speed reducer, the output end of the harmonic speed reducer is connected with a rocker arm fixing piece, the rocker arm fixing piece is fixedly connected with a rocker arm, the other end of the rocker arm is connected with a driven wheel through a driven wheel shaft fixing piece, a rotating shaft of the driven wheel is set as a driven wheel shaft, and the swing arm driving motor controls the rocker arm to put down or lift up the driven wheel.

Preferably, the rocker arm is a carbon fiber tube.

Preferably, the track is provided with a track tensioning mechanism.

This application advantage lies in, can realize a plurality of motion modes, when comparatively flat ground walking, can adopt the mode of upright walking, when surmounting the obstacle, can adopt the mode of track walking, can avoid single mode adaptability poor like this, the problem of inefficiency.

Drawings

Fig. 1 is a side view of an obstacle-crossing rescue robot provided in the embodiment;

fig. 2 is a top view of an obstacle-crossing rescue robot provided in the embodiment;

fig. 3 is an axial view of the obstacle-crossing rescue robot provided in the embodiment.

Detailed Description

In order to make the present application more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.

Examples

The embodiment provides an obstacle-crossing rescue robot, which comprises a storage box 1, a transmission bin 2, a driving structure, a traveling mechanism and a main control device, as shown in fig. 1 and 2;

the storage box 1 is positioned at the front part of the robot body and is used for placing a battery, a main control device, a lead protection box and the like;

the transmission bin 2 is used for placing a driving mechanism and a transmission mechanism and is positioned at the rear part of the robot body;

the driving mechanism is arranged in the transmission bin 2 and used for driving the whole robot to move, the driving mechanism comprises a left driving mechanism and a right driving mechanism which are the same in structure and work independently, the left driving mechanism and the right driving mechanism are the same in structure, and the right driving mechanism is taken as an example for explanation and comprises a swing arm driving motor 3 and a driving wheel motor 4;

the drive wheel motor 4 is as the motor that advances, connects 11 control drive wheels of drive wheel 11 rotatory and then drive the robot motion, and concrete structure is: the driving wheel motor 4 is connected with a planetary reducer 5, the planetary reducer 5 is in driving connection with a driving wheel shaft 12 through a synchronous belt pulley 8, the driving wheel shaft 12 penetrates through the robot body to be connected with a driving wheel 11 located outside, and the driving wheel 11 comprises a driving wheel hub 10; the driving wheel motor 4 controls the driving wheel 11 to rotate so as to drive the robot to move forward, and the driving wheels 11 positioned on the left side and the right side rotate at a differential speed so as to drive the robot to turn; the other end of the robot body, which is far away from the driving wheel 11, faces the ground, and a universal wheel (a conventional structure, not shown in the figure) can be arranged as a supporting wheel of the robot body, and is used when the driving wheel 11 independently drives the robot to move forward;

the driving wheel 11 independently drives the robot to advance and is generally suitable for the ground with good road conditions, when the road conditions are complex and the obstacle needs to be crossed, the crawler advancing mode needs to be adopted, and therefore the advancing mode needs to be switched: swing arm driving motor 3 is the control motor who switches the mode of marcing, and swing arm driving motor 3 passes through the rocking arm and connects from driving wheel 15, and control is put down or is stood up from driving wheel 15, and concrete structure is: the swing arm driving motor 3 is connected with a harmonic speed reducer 6; the output end of the harmonic speed reducer 6 is connected with a rocker fixing piece 9, the rocker fixing piece 9 is used for fixing a rocker carbon fiber tube 14 (for reducing the weight of a rocker, a carbon fiber tube is adopted here, and other materials can be adopted naturally), the other end of the rocker carbon fiber tube 14 is connected with a driven wheel 15 through a driven wheel shaft fixing piece 17, a rotating shaft of the driven wheel 15 is a driven wheel shaft 16, the driven wheel 15 is connected with a driving wheel 11 through a crawler 13, the driving wheel 11 drives the driven wheel 15 to rotate for a driving wheel, when the crawler is required to advance, the swing arm driving motor 3 controls the rocker carbon fiber tube 14 to put the driven wheel 15 down, and the obstacle crossing can be realized through the crawler 13.

It should be noted that the two swing arm driving motors 3 and the two driving wheel motors 4 which are positioned at the left and right sides of the robot body are independent control motors, and the swing arm driving motors 3 at the left and right sides respectively control the swing arms at the left and right sides so that the two swing arms can rotate to different directions; the swing arm driving motor 3 and the driving wheel motor 4 are fixed on the robot body through respective connecting plates;

the tensioning of the track 13 connecting the drive wheel 11 and the driven wheel 15 may be controlled by a track tensioning mechanism 18 arranged beside the track 13.

By adopting the obstacle crossing robot provided by the embodiment, various motion postures can be realized through a mechanical structure and a sensor. And the gesture is actively or automatically switched when different obstacles or environments are met. The whole vertical robot similar to the inverted pendulum model can be controlled through the independent swing arms on the left side and the right side.

The application has the advantages that:

1. the invention can realize a plurality of movement modes, can adopt an upright walking mode when walking on a relatively flat ground, and can adopt a crawler walking mode when crossing obstacles, thereby avoiding the problems of poor adaptability and low efficiency of a single mode.

2. When the upright walking mode is adopted, the friction force during walking can be greatly reduced, the cruising ability under the same power supply is greatly improved, and the transmission efficiency is also improved.

3. When the robot is in the vertical walking mode, the projection area of the whole robot on the ground is far smaller than that of the crawler walking mode, the steering radius is small, and the robot can steer faster in a narrower environment.

4. When the robot is in the vertical walking mode, the first-order inverted pendulum model is applied, so that the robot can pass through a shorter pipeline or a hole with a lower height, and the height of the executing mechanism relative to the chassis can be reduced.

5. When the crawler traveling mode is adopted, an extra swing arm mechanism is not needed to lift the height of the vehicle head when the vehicle is in obstacle crossing, so that the load of the motor and the requirement on the torque of the motor are reduced, and the movement efficiency and the cruising ability are improved.

6. When the obstacle is crossed in a track advancing mode, the gravity center can be ensured to be at a lower height due to no need of lifting the executing mechanism, so that the obstacle is more stable when being crossed, and the problem of overturning and side overturning is not easy to occur.

7. On the whole structure, the whole transmission mechanism is arranged at the rear end of the robot, so that the structure is more compact, and the difficulty of carrying out irradiation protection on the electronic element is reduced.

Claims

1. A radiation-resistant obstacle-crossing rescue robot comprises a robot body and is characterized in that the front part of the robot body is provided with a storage box (1), the rear part of the robot body is provided with a transmission bin (2), the left side and the right side in the transmission bin (2) are provided with the same independent driving structure, and the left side and the right side outside the robot body are provided with independent driving wheels (11), swing arms and driven wheels (15); the driving structure comprises a swing arm driving motor (3) and a driving wheel motor (4); the driving wheel motor (4) is in driving connection with a driving wheel (11) located on the same side, the swing arm driving motor (3) is in driving connection with a swing arm located on the same side and controls the angle of the swing arm, the swing arm located on the same side is connected with a driven wheel (15) located on the same side, and the driven wheel (15) is connected with the driving wheel (11) through a crawler belt (13).

2. Radiation-resistant obstacle-crossing rescue robot as claimed in claim 1, characterized in that the storage box (1) is located in the front of the robot body and used for placing batteries, a master control device and a lead protection box.

3. The radiation-resistant obstacle-crossing rescue robot as claimed in claim (1), characterized in that the driving wheel motor (4) is connected with a planetary reducer (5), the planetary reducer (5) is in driving connection with a driving wheel shaft (12) through a synchronous pulley (8), the driving wheel shaft (12) penetrates through the robot body to be connected with a driving wheel (11) located on the same side of the outside, and the driving wheel (11) comprises a driving wheel hub (10); the driving wheel motor (4) drives and controls the driving wheel (11) to rotate so as to drive the robot to move forward, and the driving wheels (11) on the left side and the right side rotate in a differential mode to drive the robot to turn.

4. Radiation-resistant obstacle-crossing rescue robot as claimed in claim 3, characterized in that the other end of the robot body, which is remote from the driving wheels (15), is provided with universal wheels towards the ground, which are provided as support wheels for the robot body.

5. The radiation-resistant obstacle crossing rescue robot is characterized in that the swing arm driving motor (3) is connected with a harmonic speed reducer (6), the output end of the harmonic speed reducer (6) is connected with a swing arm fixing piece (9), the swing arm fixing piece (9) is fixedly connected with a swing arm, the other end of the swing arm is connected with a driven wheel (15) through a driven wheel shaft fixing piece (17), the rotating shaft of the driven wheel (15) is set as a driven wheel shaft (16), and the swing arm driving motor (3) controls the swing arm to put down or lift the driven wheel (15).

6. A radiation-resistant obstacle-crossing rescue robot as recited in claim 5, wherein the rocker arm is a carbon fiber tube.

7. A radiation-resistant obstacle-crossing rescue robot as claimed in claim 1, characterized in that the track (13) is provided with a track tensioning mechanism (18).